diff --git a/src/Menu.tsx b/src/Menu.tsx
index d582eb86..be2cab34 100644
--- a/src/Menu.tsx
+++ b/src/Menu.tsx
@@ -506,6 +506,12 @@ const Menu = React.forwardRef<MenuRef, MenuProps>((props, ref) => {
     onInternalOpenChange(key, nextOpen);
   };
 
+  const triggerAccessibilityClose = () => {
+    if (mergedOpenKeys.length) {
+      triggerOpenKeys(EMPTY_LIST, true);
+    }
+  };
+
   const onInternalKeyDown = useAccessibility(
     internalMode,
     mergedActiveKey,
@@ -518,6 +524,7 @@ const Menu = React.forwardRef<MenuRef, MenuProps>((props, ref) => {
 
     setMergedActiveKey,
     triggerAccessibilityOpen,
+    triggerAccessibilityClose,
 
     onKeyDown,
   );
diff --git a/src/hooks/useAccessibility.ts b/src/hooks/useAccessibility.ts
index 259130cb..0938b3be 100644
--- a/src/hooks/useAccessibility.ts
+++ b/src/hooks/useAccessibility.ts
@@ -174,6 +174,7 @@ export function useAccessibility<T extends HTMLElement>(
 
   triggerActiveKey: (key: string) => void,
   triggerAccessibilityOpen: (key: string, open?: boolean) => void,
+  triggerAccessibilityClose: () => void,
 
   originOnKeyDown?: React.KeyboardEventHandler<T>,
 ): React.KeyboardEventHandler<T> {
@@ -196,6 +197,12 @@ export function useAccessibility<T extends HTMLElement>(
   return e => {
     const { which } = e;
 
+    if (which === ESC && mode !== 'inline' && e.target === containerRef.current) {
+      triggerAccessibilityClose();
+      originOnKeyDown?.(e);
+      return;
+    }
+
     if ([...ArrowKeys, ENTER, ESC, HOME, END].includes(which)) {
       const keys = getKeys();
 
diff --git a/tests/SubMenu.spec.tsx b/tests/SubMenu.spec.tsx
index 8f75f620..69ce358c 100644
--- a/tests/SubMenu.spec.tsx
+++ b/tests/SubMenu.spec.tsx
@@ -1,6 +1,6 @@
 /* eslint-disable no-undef */
 import { act, fireEvent, render } from '@testing-library/react';
-import { resetWarned } from '@rc-component/util';
+import { KeyCode, resetWarned } from '@rc-component/util';
 import React from 'react';
 import Menu, { MenuItem, SubMenu } from '../src';
 import { isActive, last } from './util';
@@ -203,6 +203,28 @@ describe('SubMenu', () => {
       });
       expect(container.querySelector('.rc-menu-submenu-open')).toBeFalsy();
     });
+
+    it('closes open submenus when Escape is pressed on the root menu', () => {
+      const onOpenChange = jest.fn();
+      const { container } = render(
+        createMenu({
+          triggerSubMenuAction: 'click',
+          onOpenChange,
+        }),
+      );
+
+      fireEvent.click(container.querySelector('.rc-menu-submenu-title'));
+      runAllTimer();
+      expect(container.querySelector('.rc-menu-submenu-open')).toBeTruthy();
+
+      const rootMenu = container.querySelector<HTMLElement>('.rc-menu-root');
+      rootMenu.focus();
+      fireEvent.keyDown(rootMenu, { keyCode: KeyCode.ESC, which: KeyCode.ESC });
+      runAllTimer();
+
+      expect(onOpenChange).toHaveBeenLastCalledWith([]);
+      expect(container.querySelector('.rc-menu-submenu-open')).toBeFalsy();
+    });
   });
 
   it('fires openChange event', () => {